function [ mpc ] = mpc_pitch( sys, x, u, k )

mpc=InitMPC(sys,100,1,0);
nSample=100;
mpc=MPCSampling(mpc,nSample,nSample,[]);
mpc=MPCbound(mpc,createBounds(sys,k,[-10],[],-1),createBounds(sys,k,[10],[],1),0,[]);
mpc=addMPCstate(mpc,x);
mpc=addMPCcontrol(mpc,u);
end

